void printDebug() {
  Serial.print("DEBUG: \t");
}

void printHeader() {
  printDebug();
  Serial.println("ax \t ay \t az \t gx \t gy \t gz");
}

void printTimerHeader() {
  printDebug();
  Serial.println("t[ms] \t gx \t gy \t gz \t ax \t ay \t az \t mag");
}

void printCalibrationResults() {
  printHeader();
  printDebug();

  Serial.print(accXZeroBias, 5);
  Serial.print("\t");

  Serial.print(accYZeroBias, 5);
  Serial.print("\t");

  Serial.print(accZZeroBias, 5);
  Serial.print("\t");

  Serial.print(gyroXZeroRate, 5);
  Serial.print("\t");

  Serial.print(gyroYZeroRate, 5);
  Serial.print("\t");

  Serial.print(gyroZZeroRate, 5);
  Serial.print("\t");

  Serial.print("\n");  
}

void printAll(int timer, float x, float y, float z, float px,
float a, float b, float c, float magnitude) {
  Serial.print(timer);
  Serial.print("\t");

  Serial.print(x, 5);
  Serial.print("\t");

  Serial.print(y, 5);
  Serial.print("\t");

  Serial.print(z, 5);
  Serial.print("\t");

  Serial.print(px, 5);
  Serial.print("\t");

  Serial.print(a, 5);
  Serial.print("\t");

  Serial.print(b, 5);
  Serial.print("\t");

  Serial.print(c, 5);
  Serial.print("\t");

  Serial.print(magnitude, 5);
  Serial.print("\t");    

  Serial.print("\n");  
}

void printSensorValues(int timer, float ax, float ay, float az,
float gx, float gy, float gz) {  

  Serial.print(timer);
  Serial.print("\t");

  Serial.print(ax, 5);
  Serial.print("\t");

  Serial.print(ay, 5);
  Serial.print("\t");

  Serial.print(az, 5);
  Serial.print("\t");

  Serial.print(gx, 5);
  Serial.print("\t");

  Serial.print(gy, 5);
  Serial.print("\t");

  Serial.print(gz, 5);
  Serial.print("\t");

  Serial.print("\n");      
}

